4
The challenges: The enormous amount of computation required to identify the corresponding points in the images. It is critical to… maximize the accuracy and throughput of the stereo system while minimizing the resource requirements 4

18
Transform Point Selection Further from the center : value decreasing Very near the center : less effective It is best to choose points that are neither too far from nor too close to the center pixel. Optimal distance : 2 pixels If the image is noisy should be slightly further 18 from the center

23
Generalized Census Transform As.. (1)transform neighborhoods become more and more sparse (2)fewer pixels are used in the correlation process selection of points to include in the transform becomes more critical 23 2-point 2-edge Horizontal + Vertical

34
Experimental Results 34 LUTs (look-up tables) : the amount of logic required to implement the method FFs : the number of 1-bit registers (the amount of pipelining used) RAMs : the number of 18-kbit block memories Freq. : the maximum operating frequency reported by synthesis

35
Conclusion 35

36
Conclusion Proposed and analyzed in this paper: A range of sparse census transforms reduce hardware resource requirements attempting to maximize correlation accuracy. often better than or nearly as good as the full census Generalized census transforms increased robustness in the presence of image noise 36